WebSVN - NaviCtrl - Diff - Rev 348 and 350


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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// +     clearly linked as origin
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//
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c.h"
#include "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
#include "eeprom.h"
#include "ssc.h"
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
u8 ErrorGpsFixLost = 0;
 
u8 ClearFCStatusFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
    static s32 no_error_delay = 0;
        s32 newErrorCode = 0;
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;
        else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL;
        else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
 
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
        else DebugOut.StatusRed &= ~AMPEL_NC;
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                newErrorCode = 3;
                StopNavigation = 1;
                DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
                DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no compass communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                newErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                DebugOut.StatusRed |= AMPEL_COMPASS;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
#ifndef FOLLOW_ME
                sprintf(ErrorMSG,"FC not compatible ");
#else
                sprintf(ErrorMSG,"! FollowMe only ! ");
#endif
                newErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
                DebugOut.StatusRed |= AMPEL_NC;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                newErrorCode = 10;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                newErrorCode = 11;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                newErrorCode = 12;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                newErrorCode = 13;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                newErrorCode = 14;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:FC Z-ACC");
                newErrorCode = 15;
        }
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:Pressure sensor");
                newErrorCode = 16;
        }
        else if(FC.Error[1] &  FC_ERROR1_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:I2C FC to BL");
                newErrorCode = 17;
        }
        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                newErrorCode = 18;
        }
        else if(FC.Error[1] &  FC_ERROR1_MIXER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                newErrorCode = 19;
        }
        else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
        {
                LED_RED_ON;
//      if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
//              else 
                 {
                  sprintf(ErrorMSG,"no GPS communication ");
                  UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
              newErrorCode = 5;
                 }
                StopNavigation = 1;
//              UBX_Timeout = SetDelay(500);
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                newErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if((FC.Error[1] &  FC_ERROR1_SPI_RX))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                newErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                newErrorCode = 20;
        }
        else if(FC.Error[1] &  FC_ERROR1_PPM)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                newErrorCode = 7;
        }
        else if(ErrorGpsFixLost)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"GPS Fix lost    ");
         newErrorCode = 21;
        }
        else if(ErrorDisturbedEarthMagnetField)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"Magnet error    ");
         newErrorCode = 22;
         DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;
         UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Motor restart  ");
         newErrorCode = 23;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:BL Limitation   ");
         newErrorCode = 24;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Waypoint range  ");
         newErrorCode = 25;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:No SD-Card  ");
         newErrorCode = 26;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else // no error occured
        {
                StopNavigation = 0;
                LED_RED_OFF;
                if(no_error_delay) { no_error_delay--;  }
                else
                 {
                  sprintf(ErrorMSG,"No Error               ");
                  ErrorCode = 0;
                 }
        }
 
    if(newErrorCode)
         {
          if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
          ErrorCode = newErrorCode;
         }
 FC.Error[0] = 0;
 FC.Error[1] = 0;
 FC.Error[2] = 0;
 FC.Error[3] = 0;
 FC.Error[4] = 0;
 ErrorGpsFixLost = 0;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /*
        static u32 ftimer =0;
        static u8 fstate = 0;
        static File_t* f = NULL;
        */
       
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize usb
        USB_ConfigInit();
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag
        DebugOut.StatusRed = 0x00;
 
        Compass_Init();
 
#ifdef FOLLOW_ME
        TransmitAlsoToFC = 1;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
        TransmitAlsoToFC = 0;
#else
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
#endif
 
        GPS_Init();
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        Debug_OK("START");
 
        for (;;) // the endless main loop
        {
                UART0_ProcessRxData();  // process request
                UART1_ProcessRxData();  // process request
                USB_ProcessRxData();    // process request
                UART0_TransmitTxData(); // send answer
                UART1_TransmitTxData(); // send answer
                UART2_TransmitTxData(); // send answer
                USB_TransmitTxData();   // send answer
                SPI0_UpdateBuffer();    // handle new SPI Data
 
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
       
                        if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors();
               
                        if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0; // not the time per flight
                        if(SerialLinkOkay) SerialLinkOkay--;
                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
                }
 
                // ---------------- Logging  ---------------------------------------
                Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
 
                /*
                // test
                if(CheckDelay(ftimer))
                {
 
                        s8* filename = "test.txt";
 
                        ftimer = SetDelay(100);
                        if(FC.Poti[3]>100 && fstate == 0)
                        {
                                fstate = 1;
                        }
                        else if(FC.Poti[3]<100 && fstate == 2)
                        {
                                fstate = 3;
                        }
 
                        switch(fstate)
                        {
                                case 1:
                                        sprintf(text,"\r\nStart writing file: %s", filename);
                                        UART1_PutString(text);
                                        f = fopen_(filename, 'a');
                                        if(f== NULL) Fat16_Init();
                                        fstate = 2;
                                        break;
 
                                case 2:
                                        fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);
                                        break;
                                       
                                case 3:
                                        sprintf(text,"\r\nClosing file: %s", filename);
                                        UART1_PutString(text);
                                        fclose_(f);
                                        fstate = 0;
                                        break;
 
                                default:
                                        break;
                        }
                }
                */
        }
}
 
// DebugOut.Analog[]
 

Rev 348	Rev 350
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:	31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz	32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
35	// + this list of conditions and the following disclaimer.	35	// + this list of conditions and the following disclaimer.
36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
37	// + from this software without specific prior written permission.	37	// + from this software without specific prior written permission.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
39	// + for non-commercial use (directly or indirectly)	39	// + for non-commercial use (directly or indirectly)
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
41	// + with our written permission	41	// + with our written permission
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
43	// + clearly linked as origin	43	// + clearly linked as origin
44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
45	//	45	//
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
56	// + POSSIBILITY OF SUCH DAMAGE.	56	// + POSSIBILITY OF SUCH DAMAGE.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	58	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	59	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	60	#include <stdio.h>
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "led.h"	62	#include "led.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "uart2.h"	65	#include "uart2.h"
66	#include "gps.h"	66	#include "gps.h"
67	#include "i2c.h"	67	#include "i2c.h"
68	#include "compass.h"	68	#include "compass.h"
69	#include "timer1.h"	69	#include "timer1.h"
70	#include "timer2.h"	70	#include "timer2.h"
71	#include "analog.h"	71	#include "analog.h"
72	#include "spi_slave.h"	72	#include "spi_slave.h"
73	#include "fat16.h"	73	#include "fat16.h"
74	#include "usb.h"	74	#include "usb.h"
75	#include "sdc.h"	75	#include "sdc.h"
76	#include "logging.h"	76	#include "logging.h"
77	#include "params.h"	77	#include "params.h"
78	#include "settings.h"	78	#include "settings.h"
79	#include "config.h"	79	#include "config.h"
80	#include "main.h"	80	#include "main.h"
81	#include "debug.h"	81	#include "debug.h"
82	#include "eeprom.h"	82	#include "eeprom.h"
-		83	#include "ssc.h"
83		84
84	#ifdef FOLLOW_ME	85	#ifdef FOLLOW_ME
85	u8 TransmitAlsoToFC = 0;	86	u8 TransmitAlsoToFC = 0;
86	#endif	87	#endif
87	u32 TimerCheckError;	88	u32 TimerCheckError;
88	u8 ErrorCode = 0;	89	u8 ErrorCode = 0;
89	u16 BeepTime;	90	u16 BeepTime;
90	u8 NCFlags = 0;	91	u8 NCFlags = 0;
91	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	92	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
92	u8 ErrorGpsFixLost = 0;	93	u8 ErrorGpsFixLost = 0;
93		94
94	u8 ClearFCStatusFlags = 0;	95	u8 ClearFCStatusFlags = 0;
95	u8 StopNavigation = 0;	96	u8 StopNavigation = 0;
96	Param_t Parameter;	97	Param_t Parameter;
97	volatile FC_t FC;	98	volatile FC_t FC;
98		99
99	s8 ErrorMSG[25];	100	s8 ErrorMSG[25];
100		101
101	//----------------------------------------------------------------------------------------------------	102	//----------------------------------------------------------------------------------------------------
102	void SCU_Config(void)	103	void SCU_Config(void)
103	{	104	{
104	/* configure PLL and set it as master clock source */	105	/* configure PLL and set it as master clock source */
105	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	106	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
106	SCU_PLLCmd(DISABLE); // now disable the PLL	107	SCU_PLLCmd(DISABLE); // now disable the PLL
107	#ifdef MCLK96MHZ	108	#ifdef MCLK96MHZ
108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	109	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
109	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	110	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
110	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	111	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
111	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	112	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
112	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	113	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
113	#else	114	#else
114	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	115	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
115	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	116	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
116	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	117	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
117	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	118	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
118	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	119	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
119	#endif	120	#endif
120	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	121	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
121	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	122	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
122	}	123	}
123		124
124	//----------------------------------------------------------------------------------------------------	125	//----------------------------------------------------------------------------------------------------
125	void GetNaviCtrlVersion(void)	126	void GetNaviCtrlVersion(void)
126	{	127	{
127	u8 msg[25];	128	u8 msg[25];
128		129
129	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	130	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
130	UART1_PutString(msg);	131	UART1_PutString(msg);
131	}	132	}
132		133
133	//----------------------------------------------------------------------------------------------------	134	//----------------------------------------------------------------------------------------------------
134		135
135	void CheckErrors(void)	136	void CheckErrors(void)
136	{	137	{
137	static s32 no_error_delay = 0;	138	static s32 no_error_delay = 0;
138	s32 newErrorCode = 0;	139	s32 newErrorCode = 0;
139	UART_VersionInfo.HardwareError[0] = 0;	140	UART_VersionInfo.HardwareError[0] = 0;
140		141
141	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	142	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
142	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	143	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
143		144
144	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	145	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;
145	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status	146	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
146		147
147	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	148	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
148	else DebugOut.StatusRed &= ~AMPEL_NC;	149	else DebugOut.StatusRed &= ~AMPEL_NC;
149		150
150	if(CheckDelay(SPI0_Timeout))	151	if(CheckDelay(SPI0_Timeout))
151	{	152	{
152	LED_RED_ON;	153	LED_RED_ON;
153	sprintf(ErrorMSG,"no FC communication ");	154	sprintf(ErrorMSG,"no FC communication ");
154	newErrorCode = 3;	155	newErrorCode = 3;
155	StopNavigation = 1;	156	StopNavigation = 1;
156	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	157	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
157	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	158	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
158	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	159	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
159	}	160	}
160	else if(CheckDelay(I2C1_Timeout))	161	else if(CheckDelay(I2C1_Timeout))
161	{	162	{
162	LED_RED_ON;	163	LED_RED_ON;
163	sprintf(ErrorMSG,"no compass communication ");	164	sprintf(ErrorMSG,"no compass communication ");
164	//Reset I2CBus	165	//Reset I2CBus
165	I2C1_Deinit();	166	I2C1_Deinit();
166	I2C1_Init();	167	I2C1_Init();
167	newErrorCode = 4;	168	newErrorCode = 4;
168	StopNavigation = 1;	169	StopNavigation = 1;
169	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
170	DebugOut.StatusRed \|= AMPEL_COMPASS;	171	DebugOut.StatusRed \|= AMPEL_COMPASS;
171	}	172	}
172	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	173	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
173	{	174	{
174	LED_RED_ON;	175	LED_RED_ON;
175	#ifndef FOLLOW_ME	176	#ifndef FOLLOW_ME
176	sprintf(ErrorMSG,"FC not compatible ");	177	sprintf(ErrorMSG,"FC not compatible ");
177	#else	178	#else
178	sprintf(ErrorMSG,"! FollowMe only ! ");	179	sprintf(ErrorMSG,"! FollowMe only ! ");
179	#endif	180	#endif
180	newErrorCode = 1;	181	newErrorCode = 1;
181	StopNavigation = 1;	182	StopNavigation = 1;
182	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	183	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
183	DebugOut.StatusRed \|= AMPEL_NC;	184	DebugOut.StatusRed \|= AMPEL_NC;
184	}	185	}
185		186
186	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	187	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
187	{	188	{
188	LED_RED_ON;	189	LED_RED_ON;
189	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	190	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
190	newErrorCode = 10;	191	newErrorCode = 10;
191	}	192	}
192	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	193	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
193	{	194	{
194	LED_RED_ON;	195	LED_RED_ON;
195	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	196	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
196	newErrorCode = 11;	197	newErrorCode = 11;
197	}	198	}
198	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	199	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
199	{	200	{
200	LED_RED_ON;	201	LED_RED_ON;
201	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	202	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
202	newErrorCode = 12;	203	newErrorCode = 12;
203	}	204	}
204	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	205	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
205	{	206	{
206	LED_RED_ON;	207	LED_RED_ON;
207	sprintf(ErrorMSG,"ERR: FC Nick ACC");	208	sprintf(ErrorMSG,"ERR: FC Nick ACC");
208	newErrorCode = 13;	209	newErrorCode = 13;
209	}	210	}
210	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	211	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
211	{	212	{
212	LED_RED_ON;	213	LED_RED_ON;
213	sprintf(ErrorMSG,"ERR: FC Roll ACC");	214	sprintf(ErrorMSG,"ERR: FC Roll ACC");
214	newErrorCode = 14;	215	newErrorCode = 14;
215	}	216	}
216	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	217	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
217	{	218	{
218	LED_RED_ON;	219	LED_RED_ON;
219	sprintf(ErrorMSG,"ERR:FC Z-ACC");	220	sprintf(ErrorMSG,"ERR:FC Z-ACC");
220	newErrorCode = 15;	221	newErrorCode = 15;
221	}	222	}
222	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	223	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
223	{	224	{
224	LED_RED_ON;	225	LED_RED_ON;
225	sprintf(ErrorMSG,"ERR:Pressure sensor");	226	sprintf(ErrorMSG,"ERR:Pressure sensor");
226	newErrorCode = 16;	227	newErrorCode = 16;
227	}	228	}
228	else if(FC.Error[1] & FC_ERROR1_I2C)	229	else if(FC.Error[1] & FC_ERROR1_I2C)
229	{	230	{
230	LED_RED_ON;	231	LED_RED_ON;
231	sprintf(ErrorMSG,"ERR:I2C FC to BL");	232	sprintf(ErrorMSG,"ERR:I2C FC to BL");
232	newErrorCode = 17;	233	newErrorCode = 17;
233	}	234	}
234	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	235	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
235	{	236	{
236	LED_RED_ON;	237	LED_RED_ON;
237	sprintf(ErrorMSG,"ERR: Bl Missing");	238	sprintf(ErrorMSG,"ERR: Bl Missing");
238	newErrorCode = 18;	239	newErrorCode = 18;
239	}	240	}
240	else if(FC.Error[1] & FC_ERROR1_MIXER)	241	else if(FC.Error[1] & FC_ERROR1_MIXER)
241	{	242	{
242	LED_RED_ON;	243	LED_RED_ON;
243	sprintf(ErrorMSG,"Mixer Error");	244	sprintf(ErrorMSG,"Mixer Error");
244	newErrorCode = 19;	245	newErrorCode = 19;
245	}	246	}
246	else if(CheckDelay(UBX_Timeout))	247	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
247	{	248	{
248	LED_RED_ON;	249	LED_RED_ON;
249	if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	250	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
250	else	251	// else
251	{	252	{
252	sprintf(ErrorMSG,"no GPS communication ");	253	sprintf(ErrorMSG,"no GPS communication ");
253	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	254	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
254	newErrorCode = 5;	255	newErrorCode = 5;
255	}	256	}
256	StopNavigation = 1;	257	StopNavigation = 1;
257	// UBX_Timeout = SetDelay(500);	258	// UBX_Timeout = SetDelay(500);
258	}	259	}
259	else if(Compass_Heading < 0)	260	else if(Compass_Heading < 0)
260	{	261	{
261	LED_RED_ON;	262	LED_RED_ON;
262	sprintf(ErrorMSG,"bad compass value ");	263	sprintf(ErrorMSG,"bad compass value ");
263	newErrorCode = 6;	264	newErrorCode = 6;
264	StopNavigation = 1;	265	StopNavigation = 1;
265	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	266	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
266	}	267	}
267	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	268	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
268	{	269	{
269	LED_RED_ON;	270	LED_RED_ON;
270	sprintf(ErrorMSG,"FC spi rx error ");	271	sprintf(ErrorMSG,"FC spi rx error ");
271	newErrorCode = 8;	272	newErrorCode = 8;
272	StopNavigation = 1;	273	StopNavigation = 1;
273	}	274	}
274	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	275	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
275	{	276	{
276	LED_RED_ON;	277	LED_RED_ON;
277	sprintf(ErrorMSG,"FC: Carefree Error");	278	sprintf(ErrorMSG,"FC: Carefree Error");
278	newErrorCode = 20;	279	newErrorCode = 20;
279	}	280	}
280	else if(FC.Error[1] & FC_ERROR1_PPM)	281	else if(FC.Error[1] & FC_ERROR1_PPM)
281	{	282	{
282	LED_RED_ON;	283	LED_RED_ON;
283	sprintf(ErrorMSG,"RC Signal lost ");	284	sprintf(ErrorMSG,"RC Signal lost ");
284	newErrorCode = 7;	285	newErrorCode = 7;
285	}	286	}
286	else if(ErrorGpsFixLost)	287	else if(ErrorGpsFixLost)
287	{	288	{
288	LED_RED_ON;	289	LED_RED_ON;
289	sprintf(ErrorMSG,"GPS Fix lost ");	290	sprintf(ErrorMSG,"GPS Fix lost ");
290	newErrorCode = 21;	291	newErrorCode = 21;
291	}	292	}
292	else if(ErrorDisturbedEarthMagnetField)	293	else if(ErrorDisturbedEarthMagnetField)
293	{	294	{
294	LED_RED_ON;	295	LED_RED_ON;
295	sprintf(ErrorMSG,"Magnet error ");	296	sprintf(ErrorMSG,"Magnet error ");
296	newErrorCode = 22;	297	newErrorCode = 22;
297	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	298	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
298	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	299	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
299	}	300	}
300	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	301	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
301	{	302	{
302	LED_RED_ON;	303	LED_RED_ON;
303	sprintf(ErrorMSG,"ERR:Motor restart ");	304	sprintf(ErrorMSG,"ERR:Motor restart ");
304	newErrorCode = 23;	305	newErrorCode = 23;
305	DebugOut.StatusRed \|= AMPEL_BL;	306	DebugOut.StatusRed \|= AMPEL_BL;
306	}	307	}
307	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	308	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
308	{	309	{
309	LED_RED_ON;	310	LED_RED_ON;
310	sprintf(ErrorMSG,"ERR:BL Limitation ");	311	sprintf(ErrorMSG,"ERR:BL Limitation ");
311	newErrorCode = 24;	312	newErrorCode = 24;
312	DebugOut.StatusRed \|= AMPEL_BL;	313	DebugOut.StatusRed \|= AMPEL_BL;
313	}	314	}
314	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	315	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
315	{	316	{
316	LED_RED_ON;	317	LED_RED_ON;
317	sprintf(ErrorMSG,"ERR:Waypoint range ");	318	sprintf(ErrorMSG,"ERR:Waypoint range ");
318	newErrorCode = 25;	319	newErrorCode = 25;
319	DebugOut.StatusRed \|= AMPEL_NC;	320	DebugOut.StatusRed \|= AMPEL_NC;
-		321	}
-		322	else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
-		323	{
-		324	LED_RED_ON;
-		325	sprintf(ErrorMSG,"ERR:No SD-Card ");
-		326	newErrorCode = 26;
-		327	DebugOut.StatusRed \|= AMPEL_NC;
320	}	328	}
321	else // no error occured	329	else // no error occured
322	{	330	{
323	StopNavigation = 0;	331	StopNavigation = 0;
324	LED_RED_OFF;	332	LED_RED_OFF;
325	if(no_error_delay) { no_error_delay--; }	333	if(no_error_delay) { no_error_delay--; }
326	else	334	else
327	{	335	{
328	sprintf(ErrorMSG,"No Error ");	336	sprintf(ErrorMSG,"No Error ");
329	ErrorCode = 0;	337	ErrorCode = 0;
330	}	338	}
331	}	339	}
332		340
333	if(newErrorCode)	341	if(newErrorCode)
334	{	342	{
335	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running	343	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
336	ErrorCode = newErrorCode;	344	ErrorCode = newErrorCode;
337	}	345	}
338	FC.Error[0] = 0;	346	FC.Error[0] = 0;
339	FC.Error[1] = 0;	347	FC.Error[1] = 0;
340	FC.Error[2] = 0;	348	FC.Error[2] = 0;
341	FC.Error[3] = 0;	349	FC.Error[3] = 0;
342	FC.Error[4] = 0;	350	FC.Error[4] = 0;
343	ErrorGpsFixLost = 0;	351	ErrorGpsFixLost = 0;
344	}	352	}
345		353
346	// the handler will be cyclic called by the timer 1 ISR	354	// the handler will be cyclic called by the timer 1 ISR
347	// used is for critical timing parts that normaly would handled	355	// used is for critical timing parts that normaly would handled
348	// within the main loop that could block longer at logging activities	356	// within the main loop that could block longer at logging activities
349	void EXTIT3_IRQHandler(void)	357	void EXTIT3_IRQHandler(void)
350	{	358	{
351	IENABLE;	359	IENABLE;
352		360
353	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	361	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
354	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	362	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
355	Compass_Update(); // update compass communication	363	Compass_Update(); // update compass communication
356	Analog_Update(); // get new ADC values	364	Analog_Update(); // get new ADC values
357	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	365	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
358		366
359	IDISABLE;	367	IDISABLE;
360	}	368	}
361		369
362	//----------------------------------------------------------------------------------------------------	370	//----------------------------------------------------------------------------------------------------
363	int main(void)	371	int main(void)
364	{	372	{
365	/*	373	/*
366	static u32 ftimer =0;	374	static u32 ftimer =0;
367	static u8 fstate = 0;	375	static u8 fstate = 0;
368	static File_t* f = NULL;	376	static File_t* f = NULL;
369	*/	377	*/
370		378
371	/* Configure the system clocks */	379	/* Configure the system clocks */
372	SCU_Config();	380	SCU_Config();
373	/* init VIC (Vectored Interrupt Controller) */	381	/* init VIC (Vectored Interrupt Controller) */
374	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	382	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
375	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	383	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
376	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	384	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
377	VIC_InitDefaultVectors();	385	VIC_InitDefaultVectors();
378		386
379	// initialize timer 1 for System Clock and delay rountines	387	// initialize timer 1 for System Clock and delay rountines
380	TIMER1_Init();	388	TIMER1_Init();
381	// initialize the LEDs (needs Timer 1)	389	// initialize the LEDs (needs Timer 1)
382	Led_Init();	390	Led_Init();
383	// initialize the debug UART1	391	// initialize the debug UART1
384	UART1_Init();	392	UART1_Init();
385	UART1_PutString("\r\n---------------------------------------------");	393	UART1_PutString("\r\n---------------------------------------------");
386	// initialize usb	394	// initialize usb
387	USB_ConfigInit();	395	USB_ConfigInit();
388	// initialize timer 2 for servo outputs	396	// initialize timer 2 for servo outputs
389	//TIMER2_Init();	397	//TIMER2_Init();
390	// initialize UART2 to FLIGHTCTRL	398	// initialize UART2 to FLIGHTCTRL
391	UART2_Init();	399	UART2_Init();
392	// initialize UART0 (to MKGPS or MK3MAG)	400	// initialize UART0 (to MKGPS or MK3MAG)
393	UART0_Init();	401	UART0_Init();
394	// initialize adc	402	// initialize adc
395	Analog_Init();	403	Analog_Init();
396	// initialize SPI0 to FC	404	// initialize SPI0 to FC
397	SPI0_Init();	405	SPI0_Init();
398	// initialize i2c bus (needs Timer 1)	406	// initialize i2c bus (needs Timer 1)
399	I2C1_Init();	407	I2C1_Init();
400	// initialize fat16 partition on sd card (needs Timer 1)	408	// initialize fat16 partition on sd card (needs Timer 1)
401	Fat16_Init();	409	Fat16_Init();
402	// initialize NC params	410	// initialize NC params
403	NCParams_Init();	411	NCParams_Init();
404	// initialize the settings	412	// initialize the settings
405	Settings_Init();	413	Settings_Init();
406	// initialize logging (needs settings)	414	// initialize logging (needs settings)
407	Logging_Init();	415	Logging_Init();
408		416
409	TimerCheckError = SetDelay(3000);	417	TimerCheckError = SetDelay(3000);
410	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	418	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
411	UART1_PutString("\n\r Version information:");	419	UART1_PutString("\n\r Version information:");
412		420
413	GetNaviCtrlVersion();	421	GetNaviCtrlVersion();
414	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag	422	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag
415	DebugOut.StatusRed = 0x00;	423	DebugOut.StatusRed = 0x00;
416		424
417	Compass_Init();	425	Compass_Init();
418		426
419	#ifdef FOLLOW_ME	427	#ifdef FOLLOW_ME
420	TransmitAlsoToFC = 1;	428	TransmitAlsoToFC = 1;
421	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	429	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
422	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");	430	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
423	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");	431	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
424	TransmitAlsoToFC = 0;	432	TransmitAlsoToFC = 0;
425	#else	433	#else
426	SPI0_GetFlightCtrlVersion();	434	SPI0_GetFlightCtrlVersion();
427	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	435	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
428	{	436	{
429	UART1_PutString("\n\r Flight-Ctrl not compatible");	437	UART1_PutString("\n\r Flight-Ctrl not compatible");
430	LED_RED_ON;	438	LED_RED_ON;
431	}	439	}
432	#endif	440	#endif
433		441
434	GPS_Init();	442	GPS_Init();
435		443
436	// ---------- Prepare the isr driven	444	// ---------- Prepare the isr driven
437	// set to absolute lowest priority	445	// set to absolute lowest priority
438	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	446	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
439	// enable interrupts	447	// enable interrupts
440	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	448	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
441		449
442	Debug_OK("START");	450	Debug_OK("START");
443		451
444	for (;;) // the endless main loop	452	for (;;) // the endless main loop
445	{	453	{
446	UART0_ProcessRxData(); // process request	454	UART0_ProcessRxData(); // process request
447	UART1_ProcessRxData(); // process request	455	UART1_ProcessRxData(); // process request
448	USB_ProcessRxData(); // process request	456	USB_ProcessRxData(); // process request
449	UART0_TransmitTxData(); // send answer	457	UART0_TransmitTxData(); // send answer
450	UART1_TransmitTxData(); // send answer	458	UART1_TransmitTxData(); // send answer
451	UART2_TransmitTxData(); // send answer	459	UART2_TransmitTxData(); // send answer
452	USB_TransmitTxData(); // send answer	460	USB_TransmitTxData(); // send answer
453	SPI0_UpdateBuffer(); // handle new SPI Data	461	SPI0_UpdateBuffer(); // handle new SPI Data
454		462
455	// ---------------- Error Check Timing ----------------------------	463	// ---------------- Error Check Timing ----------------------------
456	if(CheckDelay(TimerCheckError))	464	if(CheckDelay(TimerCheckError))
457	{	465	{
458	TimerCheckError = SetDelay(1000);	466	TimerCheckError = SetDelay(1000);
459	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	467	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
460		468
461	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	469	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
462		470
463	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	471	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
464	// else NaviData.FlyingTime = 0; // not the time per flight	472	// else NaviData.FlyingTime = 0; // not the time per flight
465	if(SerialLinkOkay) SerialLinkOkay--;	473	if(SerialLinkOkay) SerialLinkOkay--;
466	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	474	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
467	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	475	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
468	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	476	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
469	}	477	}
470		478
471	// ---------------- Logging ---------------------------------------	479	// ---------------- Logging ---------------------------------------
472	Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1	480	Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
473		481
474	/*	482	/*
475	// test	483	// test
476	if(CheckDelay(ftimer))	484	if(CheckDelay(ftimer))
477	{	485	{
478		486
479	s8* filename = "test.txt";	487	s8* filename = "test.txt";
480		488
481	ftimer = SetDelay(100);	489	ftimer = SetDelay(100);
482	if(FC.Poti[3]>100 && fstate == 0)	490	if(FC.Poti[3]>100 && fstate == 0)
483	{	491	{
484	fstate = 1;	492	fstate = 1;
485	}	493	}
486	else if(FC.Poti[3]<100 && fstate == 2)	494	else if(FC.Poti[3]<100 && fstate == 2)
487	{	495	{
488	fstate = 3;	496	fstate = 3;
489	}	497	}
490		498
491	switch(fstate)	499	switch(fstate)
492	{	500	{

Subversion Repositories NaviCtrl

(root)/tags/V2.08a/main.c @ 647 - Rev 348 → 350